Experiment – 4

1. Proportional controller
For the feedback control system
shown in (a), with process and
D(𝑠)
𝑅(𝑠) 𝐶𝑜𝑛𝑡𝑟𝑜𝑙𝑙𝑒𝑟 𝑃𝑙𝑎𝑛𝑡 Y(𝑠)
++
sensor models are given as
+_ Gc Gp
4
𝐺𝑝 (𝑠) = and
(2𝑠+1)(0.5𝑠+1)
𝑆𝑒𝑛𝑠𝑜𝑟𝑠
1
𝐻(𝑠) = H
(0.05𝑠+1)

(a)

Design a proportional controller 𝐺𝑐 (𝑠) = 𝐾𝑝 by following the steps given below.

a. Draw the root locus for variations in 𝐾𝑝 and use the rlocfind command to find 𝐾𝑝∗ , the controller gain
for which the closed loop system is marginally stable. Later, use the sgrid command to determine the
value of 𝐾𝑝 for which the system has a pair of complex closed loop poles with a damping ratio of 0.8.
b. Generate a plot that shows the response to a unit step reference input for several values of 𝐾𝑝 < 𝐾𝑝∗ .
Use the RPI function tstats to find the percent overshoots of the step responses. Present the responses
̂𝑝 that results in a unit step
in a table and determine by trial and error the largest controller gain value 𝐾
response having no more than 20% overshoot with respect to the steady state output value. Determine
the gain and phase margins of the system with this gain.
̂𝑝 to obtain a
c. Use the gain 𝐾 𝑃𝑙𝑎𝑛𝑡
unit step – reference and
𝐷(𝑠) Y(𝑠)
++ Gp
disturbance inputs, taken
separately. Determine the 𝐶𝑜𝑛𝑡𝑟𝑜𝑙𝑙𝑒𝑟 𝑆𝑒𝑛𝑠𝑜𝑟𝑠
values of the steady state
Gc -1 H
responses.
(b)
2. Proportional and Integral controller

For the system in Q.1, design a PI control law according to the following steps:

a. Plot the reference unit step responses for a sweep of the proportional gain 𝐾𝑝 from 0.3 to 1.7 in
increments of 0.2 for integral-gain values of 𝐾𝐼 = 0, 0.1, 0.25, 0.5, 1.0, and 2.0. Select a value of
̂𝐼 that will result in a 2% settling time 𝑡𝑠 < 6 s.
𝐾

1
 ̂𝐼 . Then use the rlocfind to calibrate several points
b. Plot the root locus for variations in 𝐾𝑝 with 𝐾𝐼 =𝐾
on the locus in terms of 𝐾𝑝 ; Find 𝐾𝑝 the gain for which the closed loop system becomes marginally
stable.

3. Proportional, Integral and Derivative controller

For the feedback control system in Q.1, design a PID controller such that unit step reference response
satisfies the specifications of (i) Overshoot less than 10%, (ii) Rise time < 0.1 s and (iii) 2% settling time
𝑡𝑠2 < 6 s by the following procedure as follows. In the PI design of the Q.2, we have determined that 𝐾𝐼 =
0.5 will satisfy 𝑡𝑠 ≤ 6 s. Fix 𝐾𝐼 at that value and 𝐾𝑝 and 𝐾𝑑 using the following step.

a. With 𝐾𝐼 = 0.5, plot the reference unit-step responses for a sweep of the proportional gain 𝐾𝑝 from
1 to 10 in increments of 1 for derivative gain values of 𝐾𝑑 = 0, 0.1, …0.5. On the basis of results,
select the smallest value of 𝐾𝑑 , denoted as ̂𝑑 , that will allow overshoot and rise time
𝐾
specifications to be satisfied without violating the settling time specification.
̂𝑑 . Use the rlocfind to find to calibrate
b. Plot the root locus of 𝐾𝑝 variation with 𝐾𝐼 = 0.5 and 𝐾𝑑 = 𝐾
several points on the locus in terms of 𝐾𝑝 . Find 𝐾𝑝∗ the gain for which closed loop system becomes
marginally stable.
̂𝑑 , select a value of 𝐾𝑝 , denoted by 𝐾
c. With 𝐾𝐼 = 0.5 and 𝐾𝑑 = 𝐾 ̂𝑝 such that all three specifications

are satisfied. Compute and plot the unit step response to both reference and disturbance inputs.
Comment on the differences between these responses and those in Q.1 c) obtained by proportional
controller and those in Q.2 c) for PI control.